WO2020101044A1 - Dispositif électronique de véhicule et procédé et système pour faire fonctionner ce dispositif électronique de véhicule - Google Patents

Dispositif électronique de véhicule et procédé et système pour faire fonctionner ce dispositif électronique de véhicule Download PDF

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Publication number
WO2020101044A1
WO2020101044A1 PCT/KR2018/013714 KR2018013714W WO2020101044A1 WO 2020101044 A1 WO2020101044 A1 WO 2020101044A1 KR 2018013714 W KR2018013714 W KR 2018013714W WO 2020101044 A1 WO2020101044 A1 WO 2020101044A1
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WIPO (PCT)
Prior art keywords
data
vehicle
processor
event
point
Prior art date
Application number
PCT/KR2018/013714
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English (en)
Korean (ko)
Inventor
김성민
Original Assignee
엘지전자 주식회사
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 엘지전자 주식회사 filed Critical 엘지전자 주식회사
Priority to US17/260,490 priority Critical patent/US20210318128A1/en
Priority to PCT/KR2018/013714 priority patent/WO2020101044A1/fr
Publication of WO2020101044A1 publication Critical patent/WO2020101044A1/fr

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Classifications

    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/38—Electronic maps specially adapted for navigation; Updating thereof
    • G01C21/3885—Transmission of map data to client devices; Reception of map data by client devices
    • G01C21/3889—Transmission of selected map data, e.g. depending on route
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
    • G01C21/34—Route searching; Route guidance
    • G01C21/3407—Route searching; Route guidance specially adapted for specific applications
    • G01C21/3415—Dynamic re-routing, e.g. recalculating the route when the user deviates from calculated route or after detecting real-time traffic data or accidents
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
    • B60R16/00—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for
    • B60R16/02—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for electric constitutive elements
    • B60R16/03—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for electric constitutive elements for supply of electrical power to vehicle subsystems or for
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
    • B60W30/14—Adaptive cruise control
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
    • B60W30/18—Propelling the vehicle
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
    • B60W40/02—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to ambient conditions
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
    • G01C21/34—Route searching; Route guidance
    • G01C21/3453—Special cost functions, i.e. other than distance or default speed limit of road segments
    • G01C21/3461—Preferred or disfavoured areas, e.g. dangerous zones, toll or emission zones, intersections, manoeuvre types, segments such as motorways, toll roads, ferries
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/09—Arrangements for giving variable traffic instructions
    • G08G1/0962—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
    • G08G1/0968—Systems involving transmission of navigation instructions to the vehicle
    • G08G1/096833—Systems involving transmission of navigation instructions to the vehicle where different aspects are considered when computing the route
    • G08G1/096844—Systems involving transmission of navigation instructions to the vehicle where different aspects are considered when computing the route where the complete route is dynamically recomputed based on new data
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/09—Arrangements for giving variable traffic instructions
    • G08G1/0962—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
    • G08G1/0968—Systems involving transmission of navigation instructions to the vehicle
    • G08G1/096855—Systems involving transmission of navigation instructions to the vehicle where the output is provided in a suitable form to the driver
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/09—Arrangements for giving variable traffic instructions
    • G08G1/0962—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
    • G08G1/0967—Systems involving transmission of highway information, e.g. weather, speed limits
    • G08G1/096708—Systems involving transmission of highway information, e.g. weather, speed limits where the received information might be used to generate an automatic action on the vehicle control
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/09—Arrangements for giving variable traffic instructions
    • G08G1/0962—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
    • G08G1/0967—Systems involving transmission of highway information, e.g. weather, speed limits
    • G08G1/096766—Systems involving transmission of highway information, e.g. weather, speed limits where the system is characterised by the origin of the information transmission
    • G08G1/096775—Systems involving transmission of highway information, e.g. weather, speed limits where the system is characterised by the origin of the information transmission where the origin of the information is a central station
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/09—Arrangements for giving variable traffic instructions
    • G08G1/0962—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
    • G08G1/0968—Systems involving transmission of navigation instructions to the vehicle
    • G08G1/096805—Systems involving transmission of navigation instructions to the vehicle where the transmitted instructions are used to compute a route
    • G08G1/096827—Systems involving transmission of navigation instructions to the vehicle where the transmitted instructions are used to compute a route where the route is computed onboard

Definitions

  • the present invention relates to a vehicle electronic device, a method and a system for operating the vehicle electronic device.
  • a vehicle is a device that moves in a direction desired by a user on board.
  • a typical example is a car.
  • ADAS Advanced Driver Assistance System
  • ADAS Advanced Driver Assistance System
  • the ADAS application or autonomous driving application may be configured based on map data.
  • map data According to the prior art, low-capacity SD (Standard Definition) map data is provided to the user in a state stored in a memory provided in the vehicle.
  • SD Standard Definition
  • HD High Definition
  • an ADAS application or an autonomous driving application when an unexpected event occurs while driving a vehicle, an ADAS application or an autonomous driving application according to the prior art cannot calculate a route in a deterministic manner and thus cannot provide a route suitable for an event situation, and sometimes traffic It may also cause a problem of repeating the circular circles.
  • an object of the present invention is to provide an electronic device for a vehicle that changes electronic horizon data based on event occurrence information.
  • an object of the present invention is to provide a method of operating an electronic device for a vehicle that changes electronic horizon data based on event occurrence information.
  • an object of the present invention is to provide a system for changing electronic horizon data based on event occurrence information.
  • a vehicle electronic device for supplying power;
  • An interface unit that receives HD map data of a specified area and event occurrence information on a driving lane from a server through a communication device; And continuously generating electronic horizon data for a specified area based on the HD (High Definition) map data while the power is supplied, but changing the electronic horizon data based on the event occurrence information.
  • Processor Includes.
  • the electronic horizon data includes a main pass defined as an orbit connecting roads having a high relative probability to be selected, and the processor, based on the event information, determines an occurrence point of the event. Change the main pass to avoid.
  • the processor changes the main pass so that at least one wheel provided in the vehicle crosses the center line.
  • the processor changes the main pass to make a U-turn before the vehicle reaches the point of occurrence of the event.
  • the processor provides the changed electronic horizon data together with a message corresponding to the event occurrence information.
  • FIG. 1 is a view showing a vehicle driving on a road according to an embodiment of the present invention.
  • FIG. 2 is a diagram referred to for describing a system according to an embodiment of the present invention.
  • FIG 3 is a view referred to for describing a vehicle including an electronic device according to an embodiment of the present invention.
  • FIG 4 illustrates the appearance of an electronic device according to an embodiment of the present invention.
  • 5A to 5C are signal flow diagrams inside a vehicle including an electronic device according to an embodiment of the present invention.
  • 6A to 6B are diagrams referred to for describing an operation of receiving HD map data according to an embodiment of the present invention.
  • 6C is a view referred to for describing an operation of generating electronic horizon data according to an embodiment of the present invention.
  • FIG. 7 is a view referred to for describing an operation of generating a lane-based route according to an embodiment of the present invention.
  • FIG. 8 is a flowchart of an electronic device according to an embodiment of the present invention.
  • 9 to 11 are views referred to for describing the operation of the electronic device according to an embodiment of the present invention.
  • the left side of the vehicle means the left side of the forward driving direction of the vehicle
  • the right side of the vehicle means the right side of the forward driving direction of the vehicle
  • FIG. 1 is a view showing a vehicle driving on a road according to an embodiment of the present invention.
  • a vehicle 10 is defined as a transport means running on a road or a track.
  • the vehicle 10 is a concept including an automobile, a train, and a motorcycle.
  • ADAS Advanced Driver Assistance System
  • the vehicle described in this specification may be a concept including both an internal combustion engine vehicle having an engine as a power source, a hybrid vehicle having an engine and an electric motor as a power source, and an electric vehicle having an electric motor as a power source.
  • the vehicle 10 may include the electronic device 100.
  • the electronic device 100 may be referred to as an electronic horizon provider (EHP).
  • the electronic device 100 is mounted on the vehicle 10 and can be electrically connected to other electronic devices inside the vehicle 10.
  • FIG. 2 is a diagram referred to for describing a system according to an embodiment of the present invention.
  • the system 1 may include an infrastructure 20 and at least one vehicle 10a, 10b.
  • the infrastructure 20 may include at least one server 21.
  • the server 21 may receive data generated in the vehicles 10a and 10b.
  • the server 21 can process the received data.
  • the server 21 can process the received data.
  • the server 21 may receive data generated by at least one electronic device mounted on the vehicles 10a and 10b.
  • the server 21 is generated by at least one of an EHP, a user interface device, an object detection device, a communication device, a driving operation device, a main ECU, a vehicle driving device, a driving system, a sensing unit, and a location data generating device. Data can be received.
  • the server 21 can generate big data based on data received from a plurality of vehicles.
  • the server 21 may receive dynamic data from the vehicles 10a and 10b, and generate big data based on the received dynamic data.
  • the server 21 may update HD map data based on data received from a plurality of vehicles.
  • the server 21 may receive the data generated by the object detection device from the EHP included in the vehicles 10a and 10b and update HD map data.
  • the server 21 may provide pre-stored data to the vehicles 10a and 10b.
  • the server 21 may provide at least one of HD (High Definition) map data and SD (Standard Definition) map data to the vehicles 10a and 10b.
  • the server 21 may classify the map data for each section and provide only map data of the section requested from the vehicles 10a and 10b.
  • HD map data may be referred to as high precision map data.
  • the server 21 may provide data processed or processed by the server 21 to the vehicles 10a and 10b.
  • the vehicles 10a and 10b may generate a driving control signal based on data received from the server 21.
  • the server 21 may provide HD map data to the vehicles 10a and 10b.
  • the server 21 can provide dynamic data to the vehicles 10a and 10b.
  • FIG 3 is a view referred to for describing a vehicle including an electronic device according to an embodiment of the present invention.
  • FIG 4 illustrates the appearance of an electronic device according to an embodiment of the present invention.
  • the vehicle 10 includes an electronic device 100, a user interface device 200, an object detection device 210, a communication device 220, a driving operation device 230, and a main ECU 240, a vehicle driving device 250, a driving system 260, a sensing unit 270, and a location data generating device 280.
  • the electronic device 100 may be referred to as an electronic horizon provider (EHP).
  • the electronic device 100 may generate electronic horizon data and provide it to at least one electronic device provided in the vehicle 10.
  • the electronic horizon data may be described as driving plan data used when the driving system 260 generates a driving control signal for the vehicle 10.
  • the electronic horizon data may be understood as driving plan data within a range from a point where the vehicle 10 is located to a horizon.
  • the horizon may be understood as a point in front of a predetermined distance from a point where the vehicle 10 is located, based on a preset driving route.
  • the horizon may mean a point at which the vehicle 10 can reach a predetermined time from a point where the vehicle 10 is located along a predetermined driving route.
  • the driving route means a driving route to the final destination, and may be set by a user input.
  • the electronic horizon data may include horizon map data and horizon pass data.
  • the horizon map data may include at least one of topology data, ADAS data, HD map data, and dynamic data.
  • the horizon map data may include a plurality of layers.
  • the horizon map data may include one layer matching topology data, a second layer matching ADAS data, a third layer matching HD map data, and a fourth layer matching dynamic data.
  • the horizon map data may further include static object data.
  • Topology data can be described as a map created by connecting road centers.
  • the topology data is suitable for roughly indicating the position of the vehicle, and may be mainly in the form of data used in navigation for drivers.
  • the topology data may be understood as data on road information from which information on a lane is excluded.
  • the topology data may be generated based on data received from the infrastructure 20.
  • the topology data may be based on data generated in the infrastructure 20.
  • the topology data may be based on data stored in at least one memory provided in the vehicle 10.
  • ADAS data may refer to data related to road information.
  • the ADAS data may include at least one of road slope data, road curvature data, and road speed data.
  • ADAS data may further include overtaking prohibited section data.
  • ADAS data may be based on data generated in the infrastructure 20.
  • ADAS data may be based on data generated by the object detection device 210.
  • ADAS data may be referred to as road information data.
  • the HD map data includes detailed lane-level topology information of each road, connection information of each lane, and feature information (eg, traffic signs, Lane Marking / Properties, Road furniture, etc.) for localization of vehicles. Can be. HD map data may be based on data generated in the infrastructure 20.
  • the dynamic data may include various dynamic information that may be generated on the road.
  • the dynamic data may include construction information, variable speed lane information, road surface state information, traffic information, moving object information, and the like.
  • the dynamic data can be based on data received from the infrastructure 20.
  • the dynamic data may be based on data generated by the object detection device 210.
  • the electronic device 100 may provide map data within a range from a point where the vehicle 10 is located to a horizon.
  • the horizon pass data may be described as a trajectory that the vehicle 10 can take within the range from the point where the vehicle 10 is located to the horizon.
  • the horizon pass data may include data indicating a relative probability of selecting any one road at a decision point (eg, forked road, branch point, intersection, etc.). Relative probability can be calculated based on the time it takes to reach the final destination. For example, in the decision point, if the first road is selected, when the time to reach the final destination is smaller than when selecting the second road, the probability of selecting the first road is greater than the probability of selecting the second road. It can be calculated higher.
  • Horizon pass data may include a main pass and a sub pass.
  • the main pass can be understood as a track connecting roads with a relatively high probability of being selected.
  • the sub-pass may branch at at least one decision point on the main pass.
  • the sub-pass may be understood as an orbit connecting at least one road having a relatively low probability of being selected from at least one decision point on the main pass.
  • the electronic device 100 may include an interface unit 180, a power supply unit 190, a memory 140, and a processor 170.
  • the interface unit 180 may exchange signals with wires or wirelessly with at least one electronic device provided in the vehicle 10.
  • the interface unit 180 includes a user interface device 200, an object detection device 210, a communication device 220, a driving operation device 230, a main ECU 240, a vehicle driving device 250, and a driving system ( 260), the sensing unit 270 and at least one of the location data generating device 280 may exchange signals by wire or wireless.
  • the interface unit 180 may be configured as at least one of a communication module, terminal, pin, cable, port, circuit, device, and device.
  • the power supply unit 190 may supply power to the electronic device 100.
  • the power supply unit 190 may receive power from a power source (eg, a battery) included in the vehicle 10 and supply power to each unit of the electronic device 100.
  • the power supply unit 190 may be operated according to a control signal provided from the main ECU 240.
  • the power supply unit 190 may be implemented as a switched-mode power supply (SMPS).
  • SMPS switched-mode power supply
  • the memory 140 is electrically connected to the processor 170.
  • the memory 140 may store basic data for the unit, control data for controlling the operation of the unit, and input / output data.
  • the memory 140 may store data processed by the processor 170.
  • the memory 140 may be configured in hardware at least one of ROM, RAM, EPROM, flash drive, and hard drive.
  • the memory 140 may store various data for the overall operation of the electronic device 100, such as a program for processing or controlling the processor 170.
  • the memory 140 may be implemented integrally with the processor 170.
  • the processor 170 may be electrically connected to the interface unit 180 and the power supply unit 190 to exchange signals.
  • the processor 170 includes application specific integrated circuits (ASICs), digital signal processors (DSPs), digital signal processing devices (DSPDs), programmable logic devices (PLDs), field programmable gate arrays (FPGAs), processors, and controllers It may be implemented using at least one of (controllers), micro-controllers, microprocessors, and electrical units for performing other functions.
  • ASICs application specific integrated circuits
  • DSPs digital signal processors
  • DSPDs digital signal processing devices
  • PLDs programmable logic devices
  • FPGAs field programmable gate arrays
  • processors and controllers It may be implemented using at least one of (controllers), micro-controllers, microprocessors, and electrical units for performing other functions.
  • the processor 170 may be driven by power provided from the power supply unit 190.
  • the processor 170 may continuously generate electronic horizon data while the power is supplied by the power supply unit 190.
  • the processor 170 may generate electronic horizon data.
  • the processor 170 may generate electronic horizon data.
  • the processor 170 may generate horizon pass data.
  • the processor 170 may generate electronic horizon data by reflecting the driving situation of the vehicle 10. For example, the processor 170 may generate electronic horizon data based on the driving direction data and the driving speed data of the vehicle 10.
  • the processor 170 may merge the generated electronic horizon data with the previously generated electronic horizon data. For example, the processor 170 may positionally connect the horizon map data generated at the first time point to the horizon map data generated at the second time point. For example, the processor 170 may positionally connect the horizon pass data generated at the first time point to the horizon pass data generated at the second time point.
  • the processor 170 may provide electronic horizon data.
  • the processor 170 may provide electronic horizon data to at least one of the driving system 260 and the main ECU 240 through the interface unit 180.
  • the processor 170 may include a memory 140, an HD map processing unit 171, a dynamic data processing unit 172, a matching unit 173, and a pass generation unit 175.
  • the HD map processing unit 171 may receive HD map data from the server 21 through the communication device 220.
  • the HD map processing unit 171 may store HD map data. According to an embodiment, the HD map processing unit 171 may process and process HD map data.
  • the dynamic data processing unit 172 may receive dynamic data from the object detection device 210.
  • the dynamic data processing unit 172 can receive dynamic data from the server 21.
  • the dynamic data processing unit 172 can store dynamic data. According to an embodiment, the dynamic data processing unit 172 may process and process dynamic data.
  • the matching unit 173 may receive an HD map from the HD map processing unit 171.
  • the matching unit 173 may receive dynamic data from the dynamic data processing unit 172.
  • the matching unit 173 may match the HD map data and the dynamic data to generate horizon map data.
  • the matching unit 173 may receive topology data.
  • the matching unit 173 may receive ADAS data.
  • the matching unit 173 may generate horizon map data by matching topology data, ADAS data, HD map data, and dynamic data.
  • the pass generation unit 175 may generate horizon pass data.
  • the pass generation unit 175 may include a main pass generation unit 176 and a sub-path generation unit 177.
  • the main pass generation unit 176 may generate main pass data.
  • the sub-path generation unit 177 may generate sub-path data.
  • the electronic device 100 may include at least one printed circuit board (PCB).
  • PCB printed circuit board
  • the interface unit 180, the power supply unit 190, and the processor 170 may be electrically connected to a printed circuit board.
  • the electronic device 100 may be integrally formed with the communication device 220.
  • the communication device 220 may be included as a sub configuration of the electronic device 100.
  • the user interface device 200 is a device for communication between the vehicle 10 and a user.
  • the user interface device 200 may receive user input and provide information generated in the vehicle 10 to the user.
  • the vehicle 10 may implement User Interfaces (UI) or User Experience (UX) through the user interface device 200.
  • UI User Interfaces
  • UX User Experience
  • the object detection device 210 may detect an object outside the vehicle 10.
  • the object detection device 210 may include at least one of a camera, a radar, a lidar, an ultrasonic sensor, and an infrared sensor.
  • the object detection device 210 may provide data on an object generated based on a sensing signal generated by the sensor to at least one electronic device included in the vehicle.
  • the object detection device 210 may generate dynamic data based on a sensing signal for the object.
  • the object detection device 210 may provide dynamic data to the electronic device 100.
  • the object detection device 210 may receive electronic horizon data.
  • the object detection device 210 may include an electronic horizon re-constructor (EHR) 265.
  • the EHR 265 may convert the electronic horizon data into a data format usable by the object detection device 210.
  • the communication device 220 can exchange signals with a device located outside the vehicle 10.
  • the communication device 220 may exchange signals with at least one of an infrastructure (eg, a server) and other vehicles.
  • the communication device 220 may include at least one of a transmitting antenna, a receiving antenna, a radio frequency (RF) circuit capable of implementing various communication protocols, and an RF element to perform communication.
  • RF radio frequency
  • the driving manipulation device 230 is a device that receives a user input for driving. In the manual mode, the vehicle 10 may be driven based on a signal provided by the driving manipulation device 230.
  • the driving manipulation device 230 may include a steering input device (eg, steering wheel), an acceleration input device (eg, an accelerator pedal), and a brake input device (eg, a brake pedal).
  • the main ECU (Electronic Control Unit) 240 may control the overall operation of at least one electronic device provided in the vehicle 10.
  • the main ECU 240 may receive electronic horizon data.
  • the main ECU 240 may include an electronic horizon re-constructor (EHR) 265.
  • the EHR 265 may convert the electronic horizon data into a data format usable by the main ECU 240.
  • the vehicle driving device 250 is a device that electrically controls driving of various devices in the vehicle 10.
  • the vehicle driving device 250 may include a power train driving part, a chassis driving part, a door / window driving part, a safety device driving part, a lamp driving part, and an air conditioning driving part.
  • the power train driving unit may include a power source driving unit and a transmission driving unit.
  • the chassis driving unit may include a steering driving unit, a brake driving unit, and a suspension driving unit.
  • the driving system 260 may perform a driving operation of the vehicle 10.
  • the driving system 260 may move the vehicle 10 by providing a control signal to at least one of a power train driving unit and a chassis driving unit among the vehicle driving devices 250.
  • the driving system 260 may receive electronic horizon data.
  • the driving system 260 may include an electronic horizon re-constructor (EHR) 265.
  • the EHR 265 may convert the electronic horizon data into a data format available in ADAS applications and autonomous driving applications.
  • the driving system 260 may include at least one of an ADAS application and an autonomous driving application.
  • the driving system 260 may generate a driving control signal by at least one of an ADAS application and an autonomous driving application.
  • the sensing unit 270 may sense the state of the vehicle.
  • the sensing unit 270 includes an inertial navigation unit (IMU) sensor, a collision sensor, a wheel sensor, a speed sensor, an inclination sensor, a weight sensor, a heading sensor, a position module, and a vehicle At least one of forward / reverse sensor, battery sensor, fuel sensor, tire sensor, steering sensor by steering wheel rotation, in-vehicle temperature sensor, in-vehicle humidity sensor, ultrasonic sensor, illuminance sensor, accelerator pedal position sensor and brake pedal position sensor It may include.
  • the inertial navigation unit (IMU) sensor may include at least one of an acceleration sensor, a gyro sensor, and a magnetic sensor.
  • the sensing unit 270 may generate state data of the vehicle based on signals generated by at least one sensor.
  • the sensing unit 270 includes vehicle attitude information, vehicle motion information, vehicle yaw information, vehicle roll information, vehicle pitch information, vehicle collision information, vehicle direction information, vehicle angle information, vehicle speed Information, vehicle acceleration information, vehicle tilt information, vehicle forward / reverse information, battery information, fuel information, tire information, vehicle lamp information, vehicle interior temperature information, vehicle interior humidity information, steering wheel rotation angle, vehicle exterior roughness, accelerator pedal Sensing signals for pressure applied to the brake, pressure applied to the brake pedal, and the like can be obtained.
  • the sensing unit 270 other, accelerator pedal sensor, pressure sensor, engine speed sensor (engine speed sensor), air flow sensor (AFS), intake temperature sensor (ATS), water temperature sensor (WTS), throttle position sensor (TPS), a TDC sensor, a crank angle sensor (CAS), and the like.
  • engine speed sensor engine speed sensor
  • air flow sensor air flow sensor
  • ATS intake temperature sensor
  • WTS water temperature sensor
  • TPS throttle position sensor
  • TDC crank angle sensor
  • CAS crank angle sensor
  • the sensing unit 270 may generate vehicle state information based on the sensing data.
  • the vehicle status information may be information generated based on data sensed by various sensors provided inside the vehicle.
  • the vehicle state information includes vehicle attitude information, vehicle speed information, vehicle tilt information, vehicle weight information, vehicle direction information, vehicle battery information, vehicle fuel information, vehicle tire pressure information, It may include steering information of the vehicle, vehicle interior temperature information, vehicle interior humidity information, pedal position information, and vehicle engine temperature information.
  • the location data generation device 280 may generate location data of the vehicle 10.
  • the location data generating device 280 may include at least one of a global positioning system (GPS) and a differential global positioning system (DGPS).
  • GPS global positioning system
  • DGPS differential global positioning system
  • the location data generation device 280 may generate location data of the vehicle 10 based on a signal generated from at least one of GPS and DGPS.
  • the location data generating apparatus 280 may correct the location data based on at least one of an IMU (Inertial Measurement Unit) of the sensing unit 270 and a camera of the object detection apparatus 210.
  • IMU Inertial Measurement Unit
  • the vehicle 10 may include an internal communication system 50.
  • the plurality of electronic devices included in the vehicle 10 may exchange signals through the internal communication system 50. Signals may include data.
  • the internal communication system 50 may use at least one communication protocol (eg, CAN, LIN, FlexRay, MOST, Ethernet).
  • 5A is a signal flow diagram inside a vehicle including an electronic device according to an embodiment of the present invention.
  • the electronic device 100 may receive HD map data from the server 21 through the communication device 220.
  • the electronic device 100 may receive dynamic data from the object detection device 210. According to an embodiment, the electronic device 100 may receive dynamic data from the server 21 through the communication device 220.
  • the electronic device 100 may receive position data of a vehicle from the position data generation device 280.
  • the electronic device 100 may receive a signal based on a user input through the user interface device 200. According to an embodiment, the electronic device 100 may receive vehicle state information from the sensing unit 270.
  • the electronic device 100 may generate electronic horizon data based on HD map data, dynamic data, and location data.
  • the electronic device 100 may match the HD map data, dynamic data, and location data to generate horizon map data.
  • the electronic device 100 may generate horizon pass data on the horizon map.
  • the electronic device 100 may generate main pass data and sub pass data on the horizon map.
  • the electronic device 100 may provide electronic horizon data to the driving system 260.
  • the EHR 265 of the driving system 260 can convert the electronic horizon data into a data format suitable for the applications 266 and 267.
  • the applications 266 and 267 can generate a travel control signal based on the electronic horizon data.
  • the driving system 260 may provide the driving control signal to the vehicle driving device 250.
  • the driving system 260 may include at least one of the ADAS application 266 and the autonomous driving application 267.
  • the ADAS application 266 may generate a control signal for assisting the driver in driving the vehicle 10 through the driving manipulation device 230 based on the electronic horizon data.
  • the autonomous driving application 267 may generate a control signal for the vehicle 10 to move based on the electronic horizon data.
  • 5B is a signal flow diagram inside a vehicle including an electronic device according to an embodiment of the present invention.
  • the electronic device 100 may provide electronic horizon data to the object detection device 210.
  • the EHR 265 of the object detection device 210 can convert the electronic horizon data into a data format suitable for the object detection device 210.
  • the object detection device 210 may include at least one of a camera 211, a radar 212, a lidar 213, an ultrasonic sensor 214, and an infrared sensor 215.
  • the electronic horizon data whose data format is converted by the EHR 265 is provided to at least one of the camera 211, the radar 212, the lidar 213, the ultrasonic sensor 214, and the infrared sensor 215. Can be.
  • At least one of the camera 211, the radar 212, the lidar 213, the ultrasonic sensor 214, and the infrared sensor 215 may generate data based on the electronic horizon data.
  • 5C is a signal flow diagram inside a vehicle including an electronic device according to an embodiment of the present invention.
  • the electronic device 100 may provide electronic horizon data to the main ECU 240.
  • the EHR 265 of the main ECU 240 can convert the electronic horizon data into a data format suitable for the main ECU 240.
  • the main ECU 240 can generate a control signal based on the electronic horizon data.
  • the main ECU 240 is based on the electronic horizon data, the user interface device 180, the object detection device 210, the communication device 220, the driving operation device 230, the vehicle driving device 250 , It is possible to generate a control signal that can control at least one of the driving system 260, the sensing unit 270 and the position data generating device 280.
  • 6A to 6B are diagrams referred to for describing an operation of receiving HD map data according to an embodiment of the present invention.
  • the server 21 may classify HD map data into HD map tiles and provide it to the electronic device 100.
  • the processor 170 may download HD map data from the server 21 in units of HD map tiles through the communication device 220.
  • the HD map tile may be defined as sub HD map data in which the entire HD map is geographically partitioned based on a quadrangular shape. All HD map tiles can be connected to get full HD map data. Since the HD map data is high-capacity data, a high-performance controller is required for the vehicle 10 in order to download and use the entire HD map data from the vehicle 10. As communication technology is developed, efficient data processing is possible by downloading, using, and deleting HD map data in the form of HD map tiles, rather than having a high performance controller in the vehicle 10.
  • the processor 170 may store the downloaded HD map tile in the memory 140.
  • the processor 170 may delete the stored HD map tile.
  • the processor 170 may delete the HD map tile when the vehicle 10 leaves an area corresponding to the HD map tile.
  • the processor 170 may delete the HD map tile after storing, after a predetermined time has elapsed.
  • 6A is a diagram referred to for describing an operation of receiving HD map data when there is no preset destination.
  • the processor 170 may receive the first HD map tile 351 including the location 350 of the vehicle 10.
  • the server 21 receives the location 350 data of the vehicle 10 from the vehicle 10, and the vehicle 10 transmits the first HD map tile 351 including the location 250 of the vehicle 10. Can be provided on.
  • the processor 170 may receive HD map tiles 352, 353, 354, and 355 around the first HD map tile 351.
  • the processor 170 may receive HD map tiles 352, 353, 354, and 355 adjacent to the top, bottom, left, and right of the first HD map tile 351, respectively. In this case, the processor 170 may receive a total of 5 HD map tiles.
  • the processor 170 may further include HD map tiles positioned in a diagonal direction, along with HD map tiles 352, 353, 354, and 355 adjacent to each of the top, bottom, left, and right sides of the first HD map tile 351. I can receive it. In this case, the processor 170 may receive a total of nine HD map tiles.
  • FIG. 6B is a diagram referred to for describing an operation of receiving HD map data when there is a preset destination.
  • the processor 170 may include tiles 350, 352, 361, 362, and 363 associated with the path 391 from the location 350 of the vehicle 10 to the destination. 364, 365, 366, 367, 368, 369, 370, 371). The processor 170 may receive a plurality of tiles 350, 352, 361, 362, 363, 364, 365, 366, 367, 368, 369, 370, 371 to cover the path 391 .
  • the processor 170 may receive all tiles 350, 352, 361, 362, 363, 364, 365, 366, 367, 368, 369, 370, and 371 covering the path 391 at a time.
  • the processor 170 the entire tile (350, 352, 361, 362, 363, 364, 365, 366, 367, 368, 369, 370 while the vehicle 10 is moving along the path 391 , 371).
  • the processor 170 as the vehicle 10 moves along the path 391, based on the location of the vehicle 10, the entire tile (350, 352, 361, 362, 363, 364, 365, 366) , 367, 368, 369, 370, 371). Thereafter, the processor 170 may continuously receive the tile while the vehicle 10 is moving and delete the previously received tile.
  • 6C is a view referred to for describing an operation of generating electronic horizon data according to an embodiment of the present invention.
  • the processor 170 may generate electronic horizon data based on HD map data.
  • the vehicle 10 may be driven while the final destination is set.
  • the final destination may be set based on user input received through the user interface device 200 or the communication device 220. Depending on the embodiment, the final destination may be set by the travel system 260.
  • the vehicle 10 may be located within a predetermined distance from a first point while driving.
  • the processor 170 may generate electronic horizon data having the first point as the start point and the second point as the end point.
  • the first point and the second point may be one point on the path to the final destination.
  • the first point may be described as a point where the vehicle 10 is located or to be located in the near future.
  • the second point can be described as the horizon described above.
  • the processor 170 may receive an HD map of the region including the section from the first point to the second point. For example, the processor 170 may request and receive an HD map for an area within a predetermined distance from a section from the first point to the second point.
  • the processor 170 may generate electronic horizon data for the region including the section from the first point to the second point based on the HD map.
  • the processor 170 may generate horizon map data for an area including a section from the first point to the second point.
  • the processor 170 may generate horizon pass data for an area including a section from the first point to the second point.
  • the processor 170 may generate main pass 313 data for an area including a section from the first point to the second point.
  • the processor 170 may generate a sub-pass 314 for the region including the section from the first point to the second point.
  • the processor 170 may generate electronic horizon data having the second point as the start point and the third point as the end point.
  • the second point and the third point may be one point on the path to the final destination.
  • the second point may be described as a point where the vehicle 10 is located or to be located in the near future.
  • the third point can be described by the above-mentioned horizon.
  • the electronic horizon data having the second point as the starting point and the third point as the ending point may be geographically connected to the electronic horizon data having the above-described first point as the starting point and the second point as the ending point.
  • the operation of generating electronic horizon data using the second point as the start point and the third point as the end point may be applied to the operation of generating electronic horizon data using the first point as the start point and the second point as the end point. .
  • the vehicle 10 may be driven even when a final destination is not set.
  • FIG. 7 is a view referred to for describing an operation of generating a lane-based route according to an embodiment of the present invention.
  • the electronic device 100 may predict a route that the vehicle 10 will proceed based on HD map data, generate electronic horizon data of a specified area, and provide it to the driving system 260.
  • the electronic horizon data may include a horizon pass, and the horizon pass may include a main pass defined by an orbit connecting roads that are likely to be selected, and a sub-path diverging from at least one decision point on the main pass. .
  • the processor 170 may generate the main pass and the sub pass in units of lanes.
  • the main pass can be defined as a track connecting lanes that are likely to be selected.
  • FIG. 7 shows main traffic (Mainly Preferred Path, MPP) and sub-passes generated by segmenting a road to investigate traffic in segment units and calculating a cost from the traffic. sub path).
  • MPP Main Preferred Path
  • FIG. 8 is a flowchart of an electronic device according to an embodiment of the present invention.
  • the processor 170 may receive power through the power supply unit 190 (S710).
  • the power supply unit 190 may supply power to the processor 170.
  • the processor 170 may receive power supplied from a battery provided in the vehicle 10 through the power supply unit 190.
  • the processor 170 may perform a processing operation when power is supplied.
  • the processor 170 may acquire location data of the vehicle 10 (S720).
  • the processor 170 may receive the location data of the vehicle 10 through the interface unit 180 from the location data generation device 280 in units of a predetermined cycle. While the vehicle 10 is running, the interface unit 180 may receive location data of the vehicle 10 from the location data generating device 280. The interface unit 180 may transmit the received location data to the processor 170.
  • the processor 170 may acquire location data of the vehicle 10 in units of driving lanes.
  • the processor 170 may receive HD map data through the interface unit 180 (S730). While the vehicle 10 is running, the interface unit 180 may receive HD map data of a specified geographic area from the server 21 through the communication device 220. The interface unit 180 may receive HD map data around the location of the vehicle 10. The interface unit 180 may transmit the received HD map data to the processor 170.
  • the processor 170 may continuously generate electronic horizon data for a specified area based on HD map data while the power is supplied (S740).
  • the processor 170 may generate electronic horizon data from the location of the vehicle 10 to the horizon.
  • the electronic horizon data may include horizon map data and horizon pass data.
  • Horizon pass data may include a main pass and a sub pass.
  • the processor 170 may change the electronic horizon data based on the event generation information (S760).
  • the processor 170 may receive event occurrence information on the driving lane through the interface unit 180. While the vehicle 10 is running, the interface unit 180 may receive event generation information on the driving lane from the server 21 and the object detection device 210. The interface unit 180 may transmit the received event information to the processor 170.
  • the event may include at least one of an accident of another vehicle, ignition of another vehicle, and damage to the driving road.
  • the step of changing may include the step of changing the main path so that at least one processor 170 avoids the occurrence point of the event based on the event occurrence information.
  • the processor 170 may change the main path to avoid the occurrence point of the event based on the event occurrence information.
  • the step of changing the main pass may include changing at least one processor 170 such that at least one wheel provided in the vehicle 10 crosses the center line.
  • the processor 170 may change the main pass so that at least one wheel provided on the vehicle 10 crosses the center line.
  • the step of changing the main pass may include the step of changing the main pass so that at least one processor 170 makes a U-turn before the vehicle 10 reaches the event occurrence point.
  • the processor 170 may change the main pass to turn the vehicle 10 before it reaches the event occurrence point.
  • the processor 170 may provide the electronic horizon data to the driving system 260 through the interface unit 180 (S770).
  • the processor 170 may provide electronic horizon data corresponding to the set geographic range to the driving system 260 through the interface unit 180.
  • the processor 170 may provide the changed electronic horizon data together with a message corresponding to event occurrence information.
  • the processor 170 may provide the changed electronic horizon data to the driving system 260 and provide event generation information to the user interface device 200.
  • the processor 170 may repeatedly perform the steps after the step S720.
  • steps S720 to S780 may be performed while receiving power from the power supply unit 190.
  • 9 to 11 are views referred to for describing the operation of the electronic device according to an embodiment of the present invention.
  • an emergency event 910 may be generated in front of the vehicle 10 in the driving lane.
  • the emergency event 910 cannot be avoided in a situation where the vehicle 10 maintains traffic regulations.
  • the object detection device 210 may detect an event 910 occurrence situation.
  • the processor 170 may receive the event 910 occurrence status information from the object detection device 210 through the interface unit 180.
  • the processor 170 may search for a bypass path of the event 910 occurrence point. If a bypass pass exists, the processor 170 may change the main pass to a bypass pass.
  • the processor 170 If it is determined that the bypass pass does not exist, the processor 170, the main pass so that at least one wheel provided on the vehicle 10 crosses the center line 920 to avoid the event 910 occurrence point (930) can be changed.
  • the central line 920 may be a line (eg, a yellow solid line) in which violation of the central line is not permitted according to traffic regulations. In this way, by changing the main pass, if the safety of the vehicle 100 is guaranteed in a situation where no other vehicle is detected in a lane across the central line 920 in an emergency, an accident may be avoided even if the central line 920 is infringed. There will be.
  • the processor 170 may off-road (eg, at least one wheel) provided in the vehicle 10 to avoid the event 910 occurrence point.
  • the main pass 930 may be changed to roll on the right lane of the driving lane).
  • the processor 170 may make a U-turn before the vehicle 10 reaches the event occurrence point in order to avoid the event 910 occurrence point. You can change the main pass.
  • the point where the vehicle 10 is located may be a point that cannot be turned.
  • the processor 170 may provide horizon pass data to at least one of the user interface device 200, the main ECU 240, and the driving system 260 along with event occurrence status information.
  • the server 21 may provide HD map data.
  • the server 21 may comprehensively process data transmitted by a plurality of vehicles and update HD map data.
  • Information about the driving lane on which the vehicle 10 travels may be updated by data acquired by other vehicles that have already traveled.
  • the server 21 can provide effective information to most vehicles.
  • the server 21 has a limitation in that the event 1010 on the road with little traffic or traffic that first discovers the specific event 1010 on the road is not reflected.
  • the vehicle 10 autonomously drives in a situation in which information on the event 1010 is not obtained, the vehicle 10 must continue to be driven using the sensor of the object detection device 210, but the vehicle is driven by noise. This may not be possible. Noise may be generated by sunlight, rain, snow, dust, or the like.
  • the electronic device 100 may provide electronic horizon data in which the event 1010 occurrence information is reflected.
  • the processor 170 may acquire HD map data.
  • the processor 170 may acquire event generation information generated by the object detection device 210.
  • the processor 170 may compare the HD map data and event occurrence information to determine whether the occurrence event is included in the HD map data. When it is determined that an event that is not in the HD map data has occurred, the processor 170 may recognize the event through stochastic calculation.
  • the processor 170 may change the electronic horizon data to avoid an event occurrence point based on the event occurrence information.
  • the processor 170 may change the horizon map data and the horizon pass data based on the event 1110 occurrence information.
  • the vehicle 10 may change a main pass using a road side unit (RSU) 1120.
  • RSU road side unit
  • the server 21 must collect a plurality of data to reflect the HD map data update. Events on roads with intermittent traffic are unlikely to be updated in HD map data.
  • Another vehicle 1130 equipped with a V2X communication device may update the event 1110 occurrence information to the RSU 1120.
  • the vehicle 10 may receive the event 1110 occurrence information from the RSU 1120 before reaching the event 1110 occurrence point.
  • the processor 170 may change the electronic horizon data based on the event 1110 occurrence information received from the RSU 1120.
  • the processor 170 may change the horizon map data and the horizon pass data based on the event 1110 occurrence information.
  • the present invention described above can be embodied as computer readable codes on a medium on which a program is recorded.
  • the computer-readable medium includes all types of recording devices in which data readable by a computer system is stored. Examples of computer-readable media include a hard disk drive (HDD), solid state disk (SSD), silicon disk drive (SDD), ROM, RAM, CD-ROM, magnetic tape, floppy disk, and optical data storage device. This includes, and is also implemented in the form of a carrier wave (eg, transmission over the Internet). Also, the computer may include a processor or a control unit. Accordingly, the above detailed description should not be construed as limiting in all respects, but should be considered illustrative. The scope of the invention should be determined by rational interpretation of the appended claims, and all changes within the equivalent scope of the invention are included in the scope of the invention.

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  • Engineering & Computer Science (AREA)
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  • Automation & Control Theory (AREA)
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  • Life Sciences & Earth Sciences (AREA)
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Abstract

La présente invention concerne un dispositif électronique de véhicule comprenant : une unité d'alimentation électrique pour fournir de l'énergie ; une unité d'interface pour recevoir des données cartographiques haute définition (HD) concernant une région spécifiée et des informations d'occurrence d'événement concernant une voie de déplacement en provenance d'un serveur par l'intermédiaire d'un dispositif de communication ; et un processeur pour générer en continu, dans un état dans lequel de l'énergie est fournie, des données d'horizon électronique concernant la région spécifiée sur la base des données cartographiques HD et pour modifier les données d'horizon électronique sur la base des informations d'occurrence d'événement.
PCT/KR2018/013714 2018-11-12 2018-11-12 Dispositif électronique de véhicule et procédé et système pour faire fonctionner ce dispositif électronique de véhicule WO2020101044A1 (fr)

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US17/260,490 US20210318128A1 (en) 2018-11-12 2018-11-12 Electronic device for vehicle, and method and system for operating electronic device for vehicle
PCT/KR2018/013714 WO2020101044A1 (fr) 2018-11-12 2018-11-12 Dispositif électronique de véhicule et procédé et système pour faire fonctionner ce dispositif électronique de véhicule

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